.TH "Zebulon::Surface::GlobalPoseSensor" 3 "13 Oct 2009" "Version 2" "zebulon" \" -*- nroff -*-
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.SH NAME
Zebulon::Surface::GlobalPoseSensor \- 
.PP
Global Pose Sensor component for \fBGamblore\fP Unmanned System. This class creates a JAUS Global Pose Sensor that combines data from a DGPS and Digital Compass.  

.SH SYNOPSIS
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.PP
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\fC#include <globalposesensor.h>\fP
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Inherits \fBZebulon::GPS::DGPS::Callback\fP, and \fBZebulon::MicroStrain::ThreeDMGX1::Callback\fP.
.SS "Public Member Functions"

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.RI "\fBGlobalPoseSensor\fP ()"
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.RI "\fIConstructor. \fP"
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.RI "\fB~GlobalPoseSensor\fP ()"
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.RI "\fIDestructor. \fP"
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.RI "virtual int \fBSetupService\fP ()"
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.RI "\fISets the services and registers compass and gps callbacks. \fP"
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.RI "int \fBInitializeGlobalPoseSensor\fP (const std::string &compassPortName, const std::string &gpsPortName)"
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.RI "\fIInitializes the sensors belonging to the global pose object. \fP"
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.RI "int \fBShutdownGlobalPoseSensor\fP ()"
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.RI "\fIShutsdown the DGPS and Compass interface. \fP"
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.RI "bool \fBIsSensorInitialized\fP () const "
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.RI "virtual void \fBProcessMessage\fP (const \fBMicroStrain::Message\fP *msg)"
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.RI "\fIGets updated attitude values from the compass. \fP"
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.RI "virtual void \fBProcessMessage\fP (const \fBNMEA::Message\fP *msg)"
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.RI "\fIMethod called through gps callback. Sets latitude and longitude. \fP"
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.RI "void \fBPrintAttitude\fP () const "
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.RI "\fIPrints attitude values to the screen. \fP"
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.RI "void \fBPrintPosition\fP () const "
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.RI "\fIPrints position values to the screen. \fP"
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.SS "Protected Attributes"

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.RI "CxUtils::Mutex \fBmSensorMutex\fP"
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.RI "\fIMutex for sensor. \fP"
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.RI "std::vector< double > \fBmHeadingHistory\fP"
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.RI "\fIHeading history. \fP"
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.RI "Jaus::GlobalPose \fBmCombinedGlobalPose\fP"
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.RI "\fIGlobal pose from both sensors. \fP"
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.RI "\fBMicroStrain::ThreeDMGX1\fP \fBmCompass\fP"
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.RI "\fIDigital compass interface. \fP"
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.RI "\fBGPS::DGPS\fP \fBmDGPS\fP"
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.RI "\fIDGPS Interface. \fP"
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.SS "Static Protected Attributes"

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.RI "static const double \fBmHeadingOffsetDegrees\fP = -11.71"
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.SH "Detailed Description"
.PP 
Global Pose Sensor component for \fBGamblore\fP Unmanned System. This class creates a JAUS Global Pose Sensor that combines data from a DGPS and Digital Compass. 
.SH "Member Function Documentation"
.PP 
.SS "int GlobalPoseSensor::InitializeGlobalPoseSensor (const std::string & compassPortName, const std::string & gpsPortName)"
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Initializes the sensors belonging to the global pose object. Initializes the sensors belonging to the global pose object, this does not initialize the JAUS component.
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\fBParameters:\fP
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\fIcompassPortName\fP System name for compass port. 
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\fIcompassPortName\fP System name for gps port.
.RE
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\fBReturns:\fP
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Jaus::JAUS_OK if sensors initialized, otherwise Jaus::JAUS_FAILURE. 
.RE
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.SS "bool GlobalPoseSensor::IsSensorInitialized () const"\fBReturns:\fP
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True if connected to sensors, otherwise false. 
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.SS "void GlobalPoseSensor::PrintAttitude () const"
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Prints attitude values to the screen. Prints out status and attitude to the screen. 
.SS "void GlobalPoseSensor::PrintPosition () const"
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Prints position values to the screen. Prints out status and position to the screen. 
.SS "void GlobalPoseSensor::ProcessMessage (const \fBNMEA::Message\fP * msg)\fC [virtual]\fP"
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Method called through gps callback. Sets latitude and longitude. Gets updated attitude values from the \fBGPS\fP.
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This function is called anytime the compass calls the registered callbacks
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\fBParameters:\fP
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\fImsg\fP Sets the attitude and longitude values. 
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Implements \fBZebulon::GPS::DGPS::Callback\fP.
.SS "void GlobalPoseSensor::ProcessMessage (const \fBMicroStrain::Message\fP * msg)\fC [virtual]\fP"
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Gets updated attitude values from the compass. This function is called anytime the compass calls the registered callbacks
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\fBParameters:\fP
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\fImsg\fP \fBMessage\fP structure containing compass info. 
.RE
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Implements \fBZebulon::MicroStrain::ThreeDMGX1::Callback\fP.
.SS "int GlobalPoseSensor::SetupService ()\fC [virtual]\fP"
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Sets the services and registers compass and gps callbacks. Set up type of services/messages supported by component. Since this component is a Global Pose Sensor, then we must add this service to our list of supported services, listing what messages can be sent to this component.
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\fBReturns:\fP
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Jaus::JAUS_OK. 
.RE
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.SH "Author"
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